Self-moving device and automatic working system thereof

Patent metadata

Field	Value
Publication number	US-2025280758-A1
Application number	US-202519218025-A
Country	US
Kind code	A1
Filing date	May 23, 2025
Priority date	Sep 12, 2018
Publication date	Sep 11, 2025
Grant date	—

Abstract

A self-moving device, moving and working in a working area, includes: a housing; a moving module, mounted to the housing, and configured to drive the housing to move; a main working module, mounted to the housing, and configured to perform a main working task; an auxiliary working module, mounted to the housing, and configured to perform an auxiliary working task; a control module, configured to control the moving module, the main working module, and the auxiliary working module. The self-moving device includes a wireless communication module, configured to receive a control signal generated by user operation. The self-moving device includes an automatic working mode and an auxiliary working mode, in the auxiliary working mode, the control module controls the auxiliary working module at least based on the control signal to work; the control module controls the auxiliary working module based on an interruption of the control signal to stop working.

First claim

What is claimed is:

1 . A self-moving device comprising:
a housing; a moving module, configured to drive the housing to move; a main working module, configured to perform a main working task; an auxiliary working module, configured to perform an auxiliary working task; and a controller, configured to control the moving module, the main working module, and the auxiliary working module; the self-moving device is configured to operate in at least one of an automatic working mode or an auxiliary working mode, and wherein in the auxiliary working mode, the controller is further configured to:
control the auxiliary working module to work as the self-moving device moves along a preset path, wherein the preset path comprises at least a part of a boundary; and
control the auxiliary working module to stop working at least in response to the self-moving device deviating from the preset path.

2 . The self-moving device according to claim 1 , wherein in the auxiliary working mode, the controller is further configured to automatically control a moving direction of the moving module according to an output of a sensor.

3 . The self-moving device according to claim 1 , wherein the controller is further configured to control the auxiliary working module to stop working at least in response to the self-moving device deviating from the preset path by a distance greater than a preset distance threshold or for a time period greater than a preset time period threshold.

4 . The self-moving device according to claim 1 , wherein in the auxiliary working mode, the controller is further configured to: control a part of the auxiliary working module that faces outside a working area to rotate backward.

5 . The self-moving device according to claim 1 , further comprising: an isolation cover, disposed between the main working module and the auxiliary working module, at least partially covers the auxiliary working module.

6 . The self-moving device according to claim 1 , wherein the auxiliary working module comprises a trimmer head, a trimmerline is mounted on the trimmer head, and the trimmer head is configured to drive the trimmerline to rotate to cut grass.

7 . The self-moving device according to claim 1 , wherein in the auxiliary working mode, the controller controls the auxiliary working module based on a stop signal to stop working.

8 . The self-moving device according to claim 7 , wherein the self-moving device further comprises a wireless communication module, configured to receive the stop signal generated from an operation of a user.

9 . The self-moving device according to claim 1 , wherein the auxiliary working module is detachably connected to the self-moving device; the housing comprising:
a chassis, an upper cover, mounted to the chassis, comprising:
a removable section, covering a mounting location of the auxiliary working module, wherein:
the removable section is separately detachable from the housing to provide access for attaching and detaching the auxiliary working module.

10 . The self-moving device according to claim 1 , wherein a distance between the auxiliary working module and a horizontal ground is greater than or equal to 30 mm.

11 . The self-moving device according to claim 1 , wherein a cutting height of the auxiliary working module is greater than or equal to 20 mm, less than or equal to 100 mm.

12 . The self-moving device according to claim 3 , wherein the auxiliary working module comprises an auxiliary height adjustment module, configured to adjust a height of the auxiliary working module.

13 . The self-moving device according to claim 1 , wherein in the auxiliary working mode, a working energy of the auxiliary working module is less than 5 J.

14 . The self-moving device according to claim 1 , wherein a cutting section surface after cutting by the auxiliary working module is consistent with a cutting section surface after cutting by the main cutting module.

15 . The self-moving device according to claim 1 , wherein the auxiliary working module comprises an auxiliary cutting motor, disposed in a motor protective cover, configured to drive a trimmer head to rotate, wherein the motor protective cover comprises an outlet for an output shaft of the auxiliary cutting motor to extend out, and apart from the outlet, the motor protective cover is a sealed structure.

16 . The self-moving device according to claim 15 , wherein there is a gap between the motor protective cover and a shell of the auxiliary cutting motor in a height direction for an air outlet of the auxiliary cutting motor to discharge an airflow, to implement airflow circulation in the motor protective cover.

17 . The self-moving device according to claim 15 , wherein a sealing member is disposed between the outlet of the motor protective cover and the output shaft of the auxiliary cutting motor.

18 . An automatic working system, comprising:
a self-moving device comprising:
a housing;
a moving module, configured to drive the housing to move;
a main working module, configured to perform a main working task;
an auxiliary working module, configured to perform an auxiliary working task;
a controller, configured to control the moving module, the main working module, and the auxiliary working module; and
the self-moving device is configured to operate in an automatic working mode or an auxiliary working mode, and wherein
in the auxiliary working mode, the controller is configured to:
obtain a preset path, wherein the preset path comprises at least a part of a boundary;
control the auxiliary working module to work as the self-moving device moves along the preset path; and
control the auxiliary working module to stop working at least in response to the self-moving device deviating from the preset path.

19 . The automatic working system according to claim 18 , wherein further comprising a station, configured to dock and charge the self-moving device, the station comprises a wireless power transmitter, configured to establish inductive coupling with a corresponding receiver in the self-moving device for contactless energy transfer.

20 . The automatic working system according to claim 18 , wherein the auxiliary working module comprising a coil disk wound with a trimmerline and configured such that the trimmerline is rotated about a center of the coil disk to form an auxiliary cutting area,
in a plane in which the auxiliary cutting area is located, a distance between the station and the center of the coil disk is greater than a radius of the auxiliary cutting area.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Zhao Fengli
• Zha Xiahong
• Zhou Xiaoqing

Classifications

• A01D2101/00

  Lawn-mowers · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title